Bernard Foley has returned to the Wallabies fold three years after his last Test appearance, with the veteran playmaker joining the squad for two Rugby Championship matches against South Africa.

Wallabies coach Dave Rennie has named a 35-strong player squad for the matches in Adelaide and Sydney, but captain Michael Hooper remains absent after his withdrawal from the Argentina leg on mental health grounds.

Five-eighth James O'Connor is also a surprise omission.

Coming off a 47-17 loss to Argentina in their last Rugby Championship outing, the Wallabies have been bolstered by the return from injury of winger Andrew Kellaway, props Angus Bell, Scott Sio and Allan Alaalatoa, hookers Dave Porecki and Folau Fainga'a, as well as centre Hunter Paisami.

Foley last turned out for the Wallabies at the 2019 Rugby World Cup in Japan and has played 71 Tests.

But with Noah Lolesio and O'Connor failing to nail down the Wallabies' number 10 jumper — in addition to Quade Cooper's season-ending injury — Rennie opted to include 32-year-old Foley, who has spent the past three years playing in Japan.

Waratahs back rower Langi Gleeson, aged 21, has been named for his first national squad after impressing for Australia A.

Queensland outside back Jock Campbell, who was part of the Argentina tour, is the only other uncapped player.

The Wallabies play the world champion Springboks at Adelaide Oval on August 27, before meeting again a week later at the redeveloped Sydney Football Stadium.

Wallabies squad: Allan Alaalatoa, Rory Arnold, Angus Bell, Jock Campbell, Pone Fa'amausili, Folau Fainga'a, Lalakai Foketi, Bernard Foley, Nick Frost, Langi Gleeson, Jake Gordon, Reece Hodge, Jed Holloway, Len Ikitau, Andrew Kellaway, Marika Koroibete, Rob Leota, Noah Lolesio, Lachlan Lonergan, Tate McDermott, Fraser McReight, Hunter Paisami, Jordan Petaia, Matt Philip, David Porecki, Pete Samu, Scott Sio, James Slipper, Darcy Swain, Taniela Tupou, Rob Valetini, Suliasi Vunivalu, Nic White, Harry Wilson, Tom Wright

AAP/ABC